CN104439004B - Stroke adjustable many bars energizing driver structure and method of adjustment thereof - Google Patents

Abstract

nullThe invention discloses a kind of stroke adjustable many bars energizing driver structure being applicable to forging equipment drive system and method for adjustment thereof，Including driving motor，Double-crank mechanism，Double eccentric wheel mechanism and toggle，Motor is driven to drive double-crank mechanism through gear reduced drive mechanism，And then drive the double eccentric wheel mechanism being connected with double-crank mechanism around solid fixed-axis rotation，By with double eccentric wheel outside the hinged connecting rod drive work slide block of eccentric mechanism pump，Complete basic Forging Technology operation，And double-crank mechanism motion transmission lever is collectively constituted through threaded connection connection by two sections of connecting rods，In the reasonable scope bar length can be adjusted，Traditional crank mechanism is replaced by double eccentric wheel mechanism，The adjustment to ram travel can be realized by changing eccentric relative to position while the bearing capacity of raising system，It is compact that this invention has topology layout，Slide block movement characteristic is adjustable，The features such as bearing capacity is strong.

Description

Stroke adjustable many bars energizing driver structure and method of adjustment thereof

Technical field

The present invention relates to a kind of stroke adjustable many bars energizing driver structure and method of adjustment thereof, belong to machine-building Technical field.

Technical background

Traditional mechanical forcing press is many using toggle as main drive gear, by toggle by electricity The rotation of machine passes to slide block, thus realizes the conversion of forms of motion and the transmission of energy.Due to crank, company Bar size completes once design, and its slide block movement output characteristics determines therewith, and the technique that this reduces equipment is fitted Ying Xing, limits the processing technique classification of technological equipment.So, crank press is frequently not suitable for carrying out deep-draw Stretch, the technological operation such as impressing.

In Forging equipment field, change slide block movement output characteristic, especially to bottom dead center of slider position near Kinetic characteristic be optimized adjustment, the forming property of material can not only be effectively improved, prevent various processing The generation of defective workmanship, and lathe and the impulsive force of mould during owing to decreasing matched moulds, it is possible to significantly reduce and make an uproar Sound, improves mould and the service life of lathe.For realizing the adjustment to slide block movement output characteristics, design upper one As use two ways: a kind of for design meet the multi-connecting-rod mechanism of special process processing request as forging equipment Main drive gear, generally multi-connecting-rod mechanism, as by Jinan two Machine Tool Group design research and development 20000KN 4 multi-link lever press of level LS4-2000A type enclosed are employing multi-connecting-rod mechanism as transmission Mechanism realizes the adjustment to slide block movement output characteristics, and for example the one of Jinfeng Machine Industrial stock Co., Ltd's announcement Planting hydraulic motor reduction gear box forcing press is also to use multi-connecting-rod mechanism, it is achieved that amplify motor output torque, Save the energy and increase the purpose of economic benefit；Another kind is to replace conventional motors with servomotor, by defeated The adjustment going out to hold speed realizes the dynamic regulation of slide block movement output characteristics, existing typical products such as Japan little Song H1F, H2F, H2W and HCP compound servo-pressing machine of series that KOMATSU company successively releases. The former can only realize the single to slide block movement output characteristics and adjust, after once adjusting, and slide block movement output characteristics Fixing the most therewith, flexible for apparatus processing and Technological adaptability raising is limited；The design of the latter is state always Outer company is monopolized, and the R & D design of domestic servo forging equipment is by problems such as low-speed high-torque motor costs Limit, can not effectively be promoted always.

Summary of the invention

It is desirable to provide a kind of compact conformation, it is possible to realize the dynamically adjustment of slide block movement output characteristics The main drive gear of a kind of forging equipment, to overcome the deficiency of existing mechanism.

A kind of stroke adjustable many bars energizing driver structure, it is characterised in that: include the first pedestal, the second pedestal；

Also including the double-crank mechanism being installed between the first pedestal and the second pedestal, this double-crank mechanism is successively Being made up of drive connecting rod, motion transmission lever, follower link, wherein motion transmission lever length can pass through length adjustment Device regulates；

Also including double eccentric wheel mechanism, this double eccentric wheel mechanism is adjustable by relative position and after adjustment, position is solid relatively Fixed small eccentricity wheel and large eccentricity wheel composition；Wherein double eccentric wheel mechanism is connected with the drive connecting rod of double-crank mechanism；

Also including the slide block retrained by line slideway, and one end is hinged with large eccentricity wheel, the other end cuts with scissors with slide block The connecting rod connect；Also include the line slideway retraining slide block linear motion.

The drive method of described stroke adjustable many bars energizing driver structure, it is characterised in that include procedure below:

Follower link rotates around the second pedestal under driven by motor, will move through the motion hinged with follower link Transmission lever passes to drive connecting rod, makes drive connecting rod rotate around the first pedestal；Drive connecting rod drives connected thereon Double eccentric wheel mechanism rotates around the first pedestal；Double eccentric wheel mechanism drives the connecting rod hinged with it, and connecting rod drives sliding Block linearly guide rail moves back and forth；

Wherein, the stroke S=2R of slide block, wherein R be connecting rod with the pin joint of large eccentricity wheel and the first pedestal it Between distance；Adjust R length by adjusting small eccentricity wheel with the relative position of large eccentricity wheel, thus realize Adjustment to ram travel；

Wherein, the speed v of slide block by

${\mathrm{\θ}}_3=2\×arctan\left(\frac{A+\sqrt{A^2+B^2+C^2}}{B-C}\right),v=R\mathrm{\ω}\[sin\mathrm{\α}\frac{\mathrm{\λ}sin2\mathrm{\α}}{2\sqrt{1-{\mathrm{\λ}}^2{\sin }^2\mathrm{\α}}}\]$

Two formula together decide on, the θ during wherein ω is previous formula₃First order derivative；In formula

A=2l₁l₃sinθ₂, B=2l₃(l₁cosθ₁+l₄), Wherein θ₁Drive connecting rod and the angle of vertical direction for double-crank mechanism；θ₂Motion for double-crank mechanism Transmission lever and the angle of horizontal direction；θ₃For the angle between the follower link of double-crank mechanism and stand connecting rod；l₁, l₂, l₃, l₄It is followed successively by the drive connecting rod of double-crank mechanism, motion connecting rod, follower link and stand connecting rod Length；Wherein the line between the first pedestal and the second pedestal is considered as stand connecting rod；R is crank connecting link machine Structure crank length, λ is Connecting rod coefficient；Double eccentric wheel mechanism and connecting rod (8) collectively constitute toggle, Line connecting rod (8) and large eccentricity taken turns between pin joint and first pedestal (1) of (7) is considered as crank, Then α is crank angle；ω is crank angular velocity.

Its innovative point of the present invention is:

Double-crank mechanism drive connecting rod rotates around pedestal under driven by motor, will move through the transmission of motion transmission lever To passive connecting rod, drive it to rotate around another pedestal and drive the double eccentric wheel mechanism thereon that is connected to revolve around pedestal Turn, wherein motion transmission lever adjustable length；Double eccentric wheel mechanism drives the connecting rod band movable slider hinged with it along straight Line guide rail moves back and forth, and wherein double-crank mechanism can realize bias by being sized the relative position of eccentric Away from adjustment.

By being given above technical solution it is understood that due to the fact that the double-crank that have employed variable rod length Mechanism, is not only able to reduce input moment of torsion, reaches the purpose of reinforcement, additionally it is possible to pass by adjusting motion The length passing bar realizes the adjustment to slide block movement output characteristics, thus adapts to the requirement of different processing technique；With The mode of the direct drive link of Shi Caiyong double eccentric wheel mechanism realizes the conversion of forms of motion, not only can be by adjusting The relative position of whole two eccentrics realizes the adjustment of ram travel, moreover it is possible to significantly improve the bearing capacity of mechanism.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention；

Label title in figure: 1 first pedestal；2 second pedestals；3 drive connecting rod；4 motion transmission levers； 5 follower link；6 small eccentricity wheels；7 large eccentricity wheels；8 connecting rods；9 slide blocks；10 guide rails；

Fig. 2 is double-crank mechanism and crank and connecting rod movement schematic diagram；

Fig. 3 is the present invention and traditional crank connecting rod mechanism movement Character Comparison figure；

Fig. 4 is slide block movement Character Comparison figure under the conditions of different motion transmission lever length.

Detailed description of the invention

Mechanical motion principle of the present invention such as Fig. 1.

A kind of many bars energizing driver structure of range-adjustable, including by drive connecting rod 3, motion transmission lever 4, driven Connecting rod 5 and the first pedestal 1, the double-crank mechanism of the second pedestal 2 composition, by small eccentricity wheel 6 and large eccentricity wheel 7 The double eccentric wheel mechanism of composition, double eccentric wheel mechanism the toggle collectively constituted with connecting rod 8.

Two sections of connecting rods are connected common group by an attachment means by the motion transmission lever 4 in described double-crank mechanism Become connecting rod 4；Its motion principle figure such as Fig. 2 is left, wherein

Label title in Fig. 2: H₁H₂Be equivalent to drive connecting rod；H₂H₃Be equivalent to motion transmission lever； H₃H₄Be equivalent to follower link；H₁H₄Be equivalent to stand connecting rod；l₁Driving crank length of connecting rod；l₂— Motion transmission lever length；l₃Driven crank link length；l₄Stand connecting rod length；ρ_1,1—H₁H₂Midpoint To H₁Position vector；ρ_1,2—H₁H₂Midpoint is to H₂Position vector；ρ_2,2—H₂H₃Midpoint is to H₂Position vector； ρ_2,3—H₂H₃Midpoint is to H₃Position vector；ρ_3,3—H₃H₄Midpoint is to H₃Position vector；ρ_3,4—H₃H₄Midpoint To H₄Position vector；r₁—H₁Point arrives connecting rod H₁H₂Point midway vector；r₂—H₁Point arrives connecting rod H₂H₃Midpoint Position vector；r₃—H₁Point arrives connecting rod H₃H₄Point midway vector；r_0,4—H₁Point arrives H₄Point position vector；θ₁— Drive connecting rod and vertical direction angle；θ₂Motion transmission lever and horizontal direction angle；θ₃Follower link and water Flat angular separation；M₁Connecting rod H₁H₂Suffered torque vector；M₂Connecting rod H₂H₃Suffered torque vector；M₃— Connecting rod H₃H₄Suffered torque vector；F₁Connecting rod H₁H₂Suffered outer force vector；F₂Connecting rod H₂H₃Suffered external force Vector；F₃Connecting rod H₃H₄Suffered outer force vector；β₁Connecting rod H₁H₂With horizontal direction angle；；OA is bent Handle linkage crank；AB toggle connecting rod；B slide block；S slide block movement stroke；R— Crank length；L length of connecting rod；λ Connecting rod coefficient；α crank angle；ω crank angular velocity；

Wherein, H₁H₂Drive connecting rod 3, H in corresponding diagram 1₂H₃Motion transmission lever 4 in corresponding diagram 1, H₃H₄Follower link 5, H in corresponding diagram 1₁H₄First pedestal 1 and the second pedestal 2 line in corresponding diagram 1, OA can be formed by being simplified by double eccentric wheel in Fig. 1, the connecting rod 8 in AB corresponding diagram 1.Fortune to this invention Dynamic and kinetics are derived as follows:

1. double-crank mechanism kinematics analysis

At double-crank mechanism H₁H₂H₃H₄In, each bar vector constitutes the constraint equation of closing

H₁H₂+H₂H₃=H₁H₄+H₄H₃ (1)

For solving θ₂, equation (1) is converted to H₂H₃=H₁H₄+H₄H₃-H₁H₂

If | H₁H₂|=l₁, | H₂H₃|=l₂, | H₃H₄|=l₃, | H₁H₄|=l₄, equation the right and left is each Dot product, can obtain

$l_2^2=l_3^2+l_4^2+l_1^2+2l_3{l}_{4}cos(\mathrm{\π}-{\mathrm{\θ}}_2)-2l_1{l}_{4}cos(\mathrm{\π}-{\mathrm{\θ}}_1)-2l_1{l}_{3}cos({\mathrm{\θ}}_3-{\mathrm{\θ}}_1)$

Make A=2l₁l₃sinθ₂, B=2l₃(l₁cosθ₁+l₄), Then there is Asin θ₃+Bcosθ₃+ C=0

Solve ${\mathrm{\θ}}_3=2\×arctan\left(\frac{A+\sqrt{A^2+B^2+C^2}}{B-C}\right)---\left(2\right)$

2. double-crank mechanism dynamic analysis

Use Newton-Euller method that the planar pivot four-bar mechanism as shown in Fig. 2 .4 is carried out motion to solve, point Safety pin is to component H₁H₂,H₁H₂,H₁H₂Carrying out dynamic analysis, it is as follows that row write Newton-Euller method:

To component H₁H₂Have:

$\{\begin{array}{c}{F}_1-m_1{\stackrel{\·\·}{r}}_1+R_{1,1}+R_{1,2}=0,\\ M_d+M_1-J_1{\stackrel{\·\·}{\mathrm{\β}}}_1+{\mathrm{\ρ}}_{1,1}\×R_{1,1}+{\mathrm{\ρ}}_{1,2}\×R_{1,2}=0\end{array}---\left(3\right)$

To component H₂H₃Have:

$\{\begin{array}{c}{F}_2-m_2{\stackrel{\·\·}{r}}_2+R_{2,2}+R_{2,3}=0,\\ M_2-J_2{\stackrel{\·\·}{\mathrm{\θ}}}_2+{\mathrm{\ρ}}_{2,2}\×R_{2,2}+{\mathrm{\ρ}}_{2,3}\×R_{2,3}=0\end{array}---\left(4\right)$

To component H₃H₄Have:

$\{\begin{array}{c}{F}_2-m_3{\stackrel{\·\·}{r}}_3+R_{3,3}+R_{3,4}=0,\\ M_3-J_3{\stackrel{\·\·}{\mathrm{\θ}}}_3+{\mathrm{\ρ}}_{3,3}\×R_{3,3}+{\mathrm{\ρ}}_{3,4}\×R_{3,4}=0\end{array}---\left(5\right)$

After above-mentioned vector equation launches, have 9 scalar equations, meanwhile, use local coordinate system method for building up, right Relation between each revolute pair contiguous bodies coordinate sets up constraint equation, has respectively

r₁+ρ_1,1=r_0,1 (6)

r₁+ρ_1,2=r₂+ρ_2,2 (7)

r₂+ρ_2,3=r₃+ρ_3,3 (8)

r_0,4=r₃+ρ_3,4 (9)

After above-mentioned vector equation launches, having 8 scalar equations, equation (1)～(9) collectively form closing Equation group, constitute system dynamics Descartes's mathematical model of planar pivot four-bar mechanism, if Fig. 3 is double Crank mechanism characteristic curve contrasts with traditional crank linkage.

Described double eccentric wheel mechanism is connected with double-crank mechanism end, drive connecting rod 3 drive around the first pedestal 1 Rotate；

Described double eccentric wheel mechanism completes the partial function of eccentric gear mechanism in tradition forging and pressing mechanism, by driving The dynamic connecting rod 8 being socketed on the eccentric of outside, drives slide block 9 to move back and forth along guide rail, its motor simplified Reason figure such as Fig. 2 is right, wherein

Ram travel: $s=R\[(1-cos\mathrm{\α})+\frac{1}{\mathrm{\λ}}(1-\sqrt{1-{\mathrm{\λ}}^2{\sin }^2\mathrm{\α}})\]$

Ram speed: $v=R\mathrm{\ω}\[sin\mathrm{\α}+\frac{\mathrm{\λ}sin2\mathrm{\α}}{2\sqrt{1-{\mathrm{\λ}}^2{\sin }^2\mathrm{\α}}}\]---\left(10\right)$

Slide block acceleration: $a=-{\mathrm{R\α}}^2\[cos\mathrm{\α}+\left(\frac{\mathrm{\λ}(cos2\mathrm{\α}+{\mathrm{\λ}}^2{\sin }^4\mathrm{\α})}{\sqrt{{(1-{\mathrm{\λ}}^2{\sin }^2\mathrm{\α})}^3}}\right)\]$

Wherein, toggle crank rolling velocity crank rolling velocity driven with double-crank mechanism is identical, and i.e. ω is by formula (2) first derivative determines, so i.e. can get the present invention by (1) (10) equation inference complete Kinetics and kinematic theoretical derivation formula.

The present invention can effectively improve the Technological adaptability of forging equipment.The present invention utilizes the change long Double crank mechanism of bar Structure and the cooperation of double eccentric wheel mechanism, can the most effectively adjust the movement output characteristic of slide block, In the case of not changing driving motor speed, change length of connecting rod by adjusting threaded connection, thus obtain Obtain multiple slide block movement processing curve of output, such as Fig. 4, under the conditions of different length of connecting rods, the Velocity-time of slide block Curve table reveals obvious difference.The present invention has compact conformation simultaneously, and bearing capacity is strong, and quickreturn characteristics is good Feature.

Claims (2)

1. stroke adjustable many bars energizing driver structure, it is characterised in that:

Including the first pedestal (1), the second pedestal (2)；

Also include the double-crank mechanism being installed between the first pedestal (1) and the second pedestal (2), this double-crank mechanism is made up of drive connecting rod (3), motion transmission lever (4), follower link (5) successively, and wherein motion transmission lever (4) length can be regulated by length adjuster；

Also including double eccentric wheel mechanism, this double eccentric wheel mechanism is adjustable by relative position and small eccentricity fixing relative to position after adjustment takes turns (6) and large eccentricity wheel (7) forms；Wherein double eccentric wheel mechanism is connected with the drive connecting rod (3) of double-crank mechanism；

Also include the slide block (9) retrained by line slideway (10), and one end is hinged with large eccentricity wheel (7), the connecting rod (8) that the other end is hinged with slide block (9)；

Also include the line slideway (10) retraining slide block linear motion.

The drive method of stroke adjustable many bars energizing driver structure the most according to claim 1, it is characterised in that include procedure below:

Follower link (5) rotates around the second pedestal (2) under driven by motor, will move through the motion transmission lever (4) hinged with follower link (5) and pass to drive connecting rod (3), make drive connecting rod (3) rotate around the first pedestal (1)；Drive connecting rod (3) drives the double eccentric wheel mechanism thereon that is connected to rotate around the first pedestal (1)；Double eccentric wheel mechanism drives the connecting rod (8) hinged with it, and connecting rod (8) band movable slider (9) linearly guide rail (10) moves back and forth；

Wherein, the stroke S=2R of slide block (9), wherein R is the distance between pin joint and first pedestal (1) of connecting rod (8) and large eccentricity wheel (7)；Adjust R length by adjusting small eccentricity wheel (6) with the relative position of large eccentricity wheel (7), thus realize the adjustment to slide block (9) stroke；

Wherein, the speed v of slide block (9) by

Two formula together decide on, the θ during wherein ω is previous formula₃First order derivative；In formula

A=2l₁l₃sinθ₂, B=2l₃(l₁cosθ₁+l₄),

Wherein θ₁Drive connecting rod (3) and the angle of vertical direction for double-crank mechanism；θ₂Motion transmission lever (4) and the angle of horizontal direction for double-crank mechanism；θ₃For the angle between the follower link (5) of double-crank mechanism and stand connecting rod；l₁, l₂, l₃, l₄It is followed successively by the drive connecting rod (3) of double-crank mechanism, motion transmission lever (4), follower link (5) and the length of stand connecting rod；Wherein the line between the first pedestal and the second pedestal is considered as stand connecting rod；R is toggle crank length, and λ is Connecting rod coefficient；Double eccentric wheel mechanism and connecting rod (8) collectively constitute toggle, and line connecting rod (8) and large eccentricity taken turns between pin joint and first pedestal (1) of (7) is considered as crank, then α is crank angle；ω is crank angular velocity.